MIT / Engineering / Mechanical
Lecture : Introduction
By Russell Tedrake | Underactuated Robotics
Lecture 1 of 23
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Course Description

Robots today move far too conservatively, using control systems that attempt to maintain full control authority at all times. Humans and animals move much more aggressively by routinely executing motions which involve a loss of instantaneous control authority. Controlling nonlinear systems without complete control authority requires methods that can reason about and exploit the natural dynamics of our machines.

This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods. Topics include nonlinear dynamics of passive robots (walkers, swimmers, flyers), motion planning, partial feedback linearization, energy-shaping control, analytical optimal control, reinforcement learning/approximate optimal control, and the influence of mechanical design on control. Discussions include examples from biology and applications to legged locomotion, compliant manipulation, underwater robots, and flying machines.

Courses Index
1 : Introduction to MEMS Design   (Clark Nguyen / Berkeley)
2 : Control of Manufacturing Processes   (David Hardt / MIT)
3 : Introduction to Solid State Chemistry   (Donald Sadoway / MIT)
4 : Atomistic Computer Modeling of Materials   (Gerbrand Ceder / MIT)
5 : Symmetry, Structure, and Tensor Properties of Materials   (Bernhardt Wuensch / MIT)
6 : Supply Chain Management   (Multiple Instructors / MIT)
7 : X PRIZE Workshop: Grand Challenges in Energy   (Erika Wagner / MIT)
8 : Special Topics in Mechanical Engineering : The Art and Science of Boat Design   (Christopher Dewart / MIT)
9 : Various Sources of Energy - Seminar   (Multiple Instructors / Stanford)
10 : Nonlinear Finite Element Analysis   (Klaus-Juurgen Bathe / MIT)
11 : Renewable Energy and Alternative Fuels   (Weismann . / Berkeley)
12 : Engineering for the Future   (Multiple Instructors / UC Davis)
13 : Manufacturing Processes   (Multiple Instructors / UC Irvine)